32 lines
956 B
C++
32 lines
956 B
C++
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///@file Configuration for Inverse Dynamics Library with Eigen
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#ifndef INVDYNCONFIG_EIGEN_HPP_
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#define INVDYNCONFIG_EIGEN_HPP_
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#define btInverseDynamics btInverseDynamicsEigen
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#ifdef BT_USE_DOUBLE_PRECISION
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// choose double/single precision version
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typedef double idScalar;
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#else
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typedef float idScalar;
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#endif
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// use std::vector for arrays
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#include <vector>
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// this is to make it work with C++2003, otherwise we could do this
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// template <typename T>
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// using idArray = std::vector<T>;
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template <typename T>
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struct idArray {
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typedef std::vector<T> type;
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};
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typedef std::vector<int>::size_type idArrayIdx;
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// default to standard malloc/free
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#include <cstdlib>
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#define ID_DECLARE_ALIGNED_ALLOCATOR() EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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// Note on interfaces:
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// Eigen::Matrix has data(), to get c-array storage
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// HOWEVER: default storage is column-major!
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#define ID_LINEAR_MATH_USE_EIGEN
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#include "Eigen/Eigen"
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#include "details/IDEigenInterface.hpp"
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#endif
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